Cook noodles in boiling water 7 minutes or until almost al dente. Add soybeans to pan; cook 1 minute or until thoroughly heated. Drain. Place noodle mixture in a large bowl. Add carrots, onions, cilantro, and chile; toss.
Heat a large skillet over medium-high heat. Sprinkle shrimp with salt and pepper. Coat pan with cooking spray. Add shrimp; cook 1 1/2 minutes on each side. Add shrimp to noodle mixture.
Combine orange juice and remaining ingredients in a bowl, stirring well with a whisk. Drizzle juice mixture over noodle mixture; toss well.